Path generation algorithm for Intelligence, Surveillance and Reconnaissance of an UAV

In this paper, we propose a path generation algorithm in consideration of observing equipments, line of sight, and flight capability of a UAV for effective ISR missions. The proposed algorithm is composed of the following steps: (1) target´s modeling for LOS ranging, (2) the determination of target observation order based on TSP(Travelling Salesman Problem), (3) the determination of line segments for target observation, and (4) the generation Dubins curve for connecting line segments. Although the proposed method provides only a suboptimal solution, it is practical and produces a reference path for a UAV with ISR missions in almost real time.